Browsing Waterloo Research by Author "Fidan, Baris"
Now showing items 1-5 of 5
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Cooperative Least Square Parameter Identification by Consensus within the Network of Autonomous Vehicles
Mehdi, Jalalmaab; Mohammad, Pirani; Fidan, Baris; Jeon, Soo (SAE International, 2016-04-05)In this paper, a consensus framework for cooperative parameter estimation within the vehicular network is presented. It is assumed that each vehicle is equipped with a dedicated short range communication (DSRC) device and ... -
Distributed Robust Vehicle State Estimation
Hashemi, Ehsan; Pirani, Mohammad; Fidan, Baris; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-06)A distributed estimation approach based on opinion dynamics is proposed to enhance the reliability of vehicle corners’ velocity estimates, which are obtained by an unscented Kalman filter. The corners’ estimates from a ... -
Integrated estimation structure for the tire friction forces in ground vehicles
Hashemi, Ehsan; Pirani, Mohammad; Khajepour, Amir; Fidan, Baris; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2016-07)This paper presents a novel corner-based force estimation method to monitor tire capacities required for the traction and stability control systems. This is entailed for more advanced vehicle stability systems in harsh ... -
Resilient Corner-Based Vehicle Velocity Estimation
Pirani, Mohammad; Hashemi, Ehsan; Khajepour, Amir; Fidan, Baris; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-02-23)This paper presents longitudinal and lateral velocity estimators by considering the effect of the suspension compliance (SC) at each corner (tire) for ground vehicles. The estimators are developed to be resilient to sensor ... -
Target capture and station keeping of fixed speed vehicles without self-location information
Guler, Samet; Fidan, Baris (Elsevier, 2018-09-01)Target capture and station keeping problems for an autonomous vehicle agent have been studied in the literature for the cases where the position of the agent can be measured. Station keeping refers to moving the agent to ...